@article{5d592637e9674ecaa31187897679f884,
title = "Improved Obstacle Mitigation and Localization Accuracy in Narrowband Ultrasonic Localization Systems using RoBCUL Algorithm",
abstract = "This article develops a method for mitigating the negative effects of obstacles in narrowband, time-division multiple access (TDMA), ultrasonic localization systems. The method builds upon the robust Bayesian classifier for ultrasonic localization (RoBCUL) algorithm that utilizes an iteratively reweighted least-squares (IRLS) scheme. This algorithm has the advantage of low computational cost but loses performance in the presence of obstacles. The improved version of the RoBCUL algorithm presented in this article uses a statistical test applied after each iteration of the regression, using a weighted-residual vector calculated from the weight matrix and residual vector. The technique was tested using experimental data with its performance being quantified by its ability to correctly classify all the signals received during a single TDMA cycle. The extended version performed significantly better in all obstacle scenarios than the original, correctly classifying 100% of TDMA cycles in the scenarios with no obstacles, 99.9% with one obstacle, and 98.7% with two obstacles.",
keywords = "Bayes methods, chirp modulation, least squares methods, position measurements, ultrasonic transducers",
author = "Sebastian Haigh and Janusz Kulon and Adam Partlow and Paul Rogers and Colin Gibson",
note = "Funding Information: Manuscript received August 8, 2019; revised October 28, 2019; accepted December 15, 2019. Date of publication November 20, 2019; date of current version April 7, 2020. This work was supported in part by the Welsh Government{\textquoteright}s ESF-funded Knowledge Economy Skill Scholarships through the Cardiff and Vale University Health Board{\textquoteright}s Rehabilitation Engineering Unit and Computing and Digital Economy Research Institute of the University of South Wales under Grant MAXI 20422. The Associate Editor coordinating the review process was Jos{\'e} Pereira. (Corresponding author: Sebastian Haigh.) Sebastian Haigh and Janusz Kulon are with the Faculty of Computing, Engineering and Science, University of South Wales, Pontypridd CF37 1DL, U.K. (e-mail: sebastian.haigh@southwales.ac.uk). Publisher Copyright: {\textcopyright} 1963-2012 IEEE. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.",
year = "2020",
month = jan,
day = "6",
doi = "10.1109/TIM.2019.2963553",
language = "English",
volume = "69",
pages = "2315--2324",
journal = "IEEE Transactions on Instrumentation and Measurement",
issn = "0018-9456",
publisher = "Institute of Electrical and Electronics Engineers",
number = "5",
}